Forward kinematic calculation of parallel link manipulators

机译：并联机构的正向运动学计算

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The authors propose a method to calculate the forward kinematics of parallel link manipulators. They introduce a virtual parallel link mechanism, having the same kinematic structure as the original parallel mechanism. It is assumed that the moving platform of the virtual mechanism is directly driven by actuators and the limbs connecting both platforms have no actuators. A control system is presented for this virtual mechanism based on the resolved motion rate control, so that the displacements of limbs are controlled by the actuators driving the moving platform. The forward kinematics are calculated by numerically simulating the control system. The position and orientation of the moving platform of the virtual mechanism are a solution for given displacements of limbs, when the tracking error of limbs converges to zero. The method is effective for time varying displacements of limbs as long as the displacements are differentiable about time. The position/orientation of the moving platform is obtained without error, once the tracking error converges to zero. The simulation results illustrate the method.

机译：作者提出了一种计算并联连杆机械手正向运动学的方法。他们引入了虚拟并行链接机制，其运动学结构与原始并行机制相同。假定虚拟机构的移动平台由致动器直接驱动，并且连接两个平台的分支没有致动器。提出了一种基于解析运动速率控制的虚拟系统控制系统，从而通过驱动移动平台的致动器来控制肢体的位移。通过数值模拟控制系统来计算正向运动学。当肢体的跟踪误差收敛到零时，虚拟机构的移动平台的位置和方向是给定肢体位移的一种解决方案。该方法对于肢体随时间变化的位移是有效的，只要该位移可随时间变化即可。一旦跟踪误差收敛到零，就可以毫无错误地获得移动平台的位置/方向。仿真结果说明了该方法。

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《Industrial Electronics, Control, Instrumentation, and Automation, 1992. Power Electronics and Motion Control., Proceedings of the 1992 International Conference on》|1992年|P.640-645|共6页
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Kosuge K.; Kawamata H.; Fukuda T.; Kotsuka T.; Mizuno T.;
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中图分类无线电电子学、电信技术;
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1. INVERSE KINEMATICS, FORWARD KINEMATICS AND WORKING SPACE DETERMINATION OF 3DOF PARALLEL MANIPULATOR WITH S-P-R JOINT STRUCTURE [J] . Vladimir LUKANIN Periodica Polytechnica. Mechanical Engineering . 2005,第1期

机译：具有S-P-R关节结构的3自由度并联机械手的逆运动学，正向运动学和工作空间确定
2. Design and kinematic analysis of a spherical parallel manipulator using concurrent planar parallelogram linkages [J] . Chen Genliang, Yu Weidong, Wang Hao, Proceedings of the Institution of Mechanical Engineers, Part C. Journal of mechanical engineering science . 2019,第7期

机译：使用并发平面平行四边形联系的球形平行机械手的设计和运动学分析
3. Forward kinematic solution and its applications for a 3-DOF parallel kinematic machine (PKM) with a passive link [J] . Z. M. Bi, S. Y. T. Lang Robotica . 2006,第Pt5期

机译：具有被动链接的三自由度并联运动机（PKM）的正向运动学解决方案及其应用
4. Forward kinematic calculation of parallel link manipulators [C] . Kosuge K., Kawamata H., Institute of Electric and Electronic Engineer Annual international conference on industrial electronics, control, instrumentation, and automation . 1992

机译：并行链路操纵器的前向运动计算
5. Using general regression and modular neural networks for solving the forward kinematics problem in parallel robotic manipulators. [D] . Najar, Rawan I. 2016

机译：使用通用回归和模块化神经网络解决并行机器人操纵器中的正向运动学问题。
6. Virtual Sensor for Kinematic Estimation of Flexible Links in Parallel Robots [O] . Pablo Bengoa, Asier Zubizarreta, Itziar Cabanes, 2017

机译：虚拟传感器用于并联机器人运动学运动估计
7. Proposal of a Forward Kinematics Calculating Method, a Control Law of Parallel Link Manipulators, and Stability Analysis of the Control System Taking Advantage of Characteristic of the Jacobian [O] . Koichi Osuka, Hitoshi Kubo, Yuki Minase, 2004

机译：前瞻性运动学计算方法，平行链路操纵器的控制定律，以及利用雅比尼亚特征的控制系统的稳定性分析
8. Numerical kinematic transformation calculations for a parallel link manipulator [R] . Killough, S M 1993

机译：并联机械手的数值运动学变换计算

Forward kinematic calculation of parallel link manipulators

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